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2019-05-20 01:48:51 -0500 marked best answer Use map_server inside Docker : node won't launch

Hi all,

I'm working with this tutorial to simulate an environment and test my sensors set to benchmark localization and navigation algorithms. I can launch the tutorial with my custom world and sensors, that's okay ; but I can't find a way to load a static map in Rviz. I added a node in the launch file, as usual and the error log is the following:

ERROR: cannot launch node of type [map_server/map_server]: map_server
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/tmp/workspace/src
ROS path [2]=/opt/ros/kinetic/share

So here I am checking on my computer on these locations if I have the map_server package. Obviously, as I have already used it before, I found it in

/opt/ros/kinetic/share

However, I know that Docker creates its own container, and loads ROS packages into it. So I fired up a terminal, typed

docker ps -l

to get the name of the actual docker. Then

docker exec -it <docker_container_name> bash

to open up an interactive console within the container. Then

cd /opt/ros/kinetic/share; ls

And here is the trick : there is no map_server package here. So the node can't be launched. Thus, my question is pretty simple: how can I "pass" the map_server package inside the Docker container, or any other package after that, without using a tremendous number of plugins and tricky command lines?

Thank you very much for your help!

Guillaume

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2018-03-06 03:11:30 -0500 asked a question Send MoveBaseActionGoal based on waypoints using MoveBase API

Send MoveBaseActionGoal based on waypoints using MoveBase API Hi all, I'm working on autonomous driving and ROS. A high

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2017-11-01 09:04:59 -0500 answered a question Use map_server inside Docker : node won't launch

Found it! you need to modify the Dockerfile that create your image. Add this: # setup sources.list RUN echo "deb http:

2017-11-01 08:41:53 -0500 asked a question Use map_server inside Docker : node won't launch

Use map_server inside Docker : node won't launch Hi all, I'm working with this tutorial to simulate an environment and

2017-10-23 08:07:24 -0500 commented question TF tree : incoherent info between tf_monitor and rqt_tf_tree leading to impossible SLAM in gazebo

I've narrowed down the issue to the Map->Odom TF broadcast. It's 1sec late compared to the gazebo TFs. So, the full l

2017-10-23 08:02:50 -0500 asked a question TF map_to_odom published with 1sec delay

TF map_to_odom published with 1sec delay Hi all, I'm trying to map a simulated environment in Gazebo. So far, I've tri

2017-10-23 02:48:48 -0500 asked a question TF tree : incoherent info between tf_monitor and rqt_tf_tree leading to impossible SLAM in gazebo

TF tree : incoherent info between tf_monitor and rqt_tf_tree leading to impossible SLAM in gazebo Hi all, I'm facing s

2017-10-13 04:29:01 -0500 commented answer gazebo crashes on start, shared_ptr error.

hey, I'm facing the same issue trying to spawn an heightmap in gazebo. However, the shared pointer mentioned with T

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2017-10-12 09:31:36 -0500 asked a question Building height map in Gazebo from occupancy grid

Building height map in Gazebo from occupancy grid High all, I've spent a few months doing SLAM and localization using a

2017-04-18 08:20:35 -0500 commented answer Autonomous navigation using navigation stack and hector slam

I would be really happy to discuss your implementation with you, as I'm facing the same challenge right now

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2017-03-01 08:02:31 -0500 asked a question Bad Mapping with Hector SLAM tutorial

Hello everyone, I'm working on ROS kinetic but I'm a newbie. I want to perform slam with bagfile (before having an actual laser).

I have cloned this git repository in order to perform the hector_slam tutorial. I also downloaded the bagfile : Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag. My problem is that the Mapping is very bad because there is a divergence as if the odometry was not good (but I know that Hector_slam doesn't use Odometry) I've changed the odom_frame and base_frame values in order to improve the mapping (according to the values given in the other answers) but nothing seems to work.

Could you please hep me ??

the mapping_default.launch file is (provided in the github repository) :

(sorry for the typing)

  • arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"
  • arg name="base_frame" default="base_footprint"
  • arg name="odom_frame" default="nav"
  • arg name="pub_map_odom_transform" default="true"
  • arg name="scan_subscriber_queue_size" default="5"
  • arg name="scan_topic" default="scan"
  • arg name="map_size" default="2048"
  • node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"

<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
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